github-actions[bot]
de77c89cf6
version: sunnypilot v2026.002.000 (staging) date: 2026-07-21T07:44:02 master commit: 2c334ede443d7391d27575af8c854a095ba702a8
117 lines
4.1 KiB
C
117 lines
4.1 KiB
C
/**
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* Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
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*
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* This file is part of sunnypilot and is licensed under the MIT License.
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* See the LICENSE.md file in the root directory for more details.
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*/
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#pragma once
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// ===============================
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// Type Definitions and Enums
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// ===============================
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typedef enum __attribute__((packed)) {
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MADS_BUTTON_UNAVAILABLE = -1, ///< Button state cannot be determined
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MADS_BUTTON_NOT_PRESSED = 0, ///< Button is not pressed
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MADS_BUTTON_PRESSED = 1 ///< Button is pressed
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} ButtonState;
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typedef enum __attribute__((packed)) {
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MADS_EDGE_NO_CHANGE = 0, ///< No state change detected
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MADS_EDGE_RISING = 1, ///< State changed from false to true
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MADS_EDGE_FALLING = 2 ///< State changed from true to false
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} EdgeTransition;
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typedef enum __attribute__((packed)) {
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MADS_DISENGAGE_REASON_NONE = 0, ///< No disengagement
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MADS_DISENGAGE_REASON_BRAKE = 1, ///< Brake pedal pressed
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MADS_DISENGAGE_REASON_LAG = 2, ///< System lag detected
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MADS_DISENGAGE_REASON_BUTTON = 4, ///< User button press
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MADS_DISENGAGE_REASON_ACC_MAIN_OFF = 8, ///< ACC system turned off
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MADS_DISENGAGE_REASON_NON_PCM_ACC_MAIN_DESYNC = 16, ///< ACC sync error
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MADS_DISENGAGE_REASON_HEARTBEAT_ENGAGED_MISMATCH = 32, ///< Heartbeat mismatch
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MADS_DISENGAGE_REASON_STEERING_DISENGAGE = 64, ///< Steering disengage
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} DisengageReason;
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// ===============================
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// Constants and Defines
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// ===============================
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#define ALT_EXP_ENABLE_MADS 1024
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#define ALT_EXP_MADS_DISENGAGE_LATERAL_ON_BRAKE 2048
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#define ALT_EXP_MADS_PAUSE_LATERAL_ON_BRAKE 4096
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#define MISMATCH_DEFAULT_THRESHOLD 25
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// ===============================
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// Data Structures
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// ===============================
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typedef struct {
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DisengageReason active_reason; // The reason that actually disengaged controls
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DisengageReason pending_reasons; // All conditions that would've prevented engagement while controls were disengaged
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} DisengageState;
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typedef struct {
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ButtonState current;
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ButtonState last;
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EdgeTransition transition;
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} ButtonStateTracking;
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typedef struct {
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EdgeTransition transition;
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bool current : 1;
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bool previous : 1;
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} BinaryStateTracking;
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typedef struct {
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bool is_vehicle_moving : 1;
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ButtonStateTracking mads_button;
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BinaryStateTracking acc_main;
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BinaryStateTracking op_controls_allowed;
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BinaryStateTracking braking;
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BinaryStateTracking mads_steering_disengage;
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DisengageState current_disengage;
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bool system_enabled : 1;
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bool disengage_lateral_on_brake : 1;
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bool pause_lateral_on_brake : 1;
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bool controls_requested_lateral : 1;
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} MADSState;
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// ===============================
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// Global Variables
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// ===============================
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extern ButtonState mads_button_press;
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extern MADSState m_mads_state;
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extern bool controls_allowed_lateral;
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// state for mads controls_allowed_lateral timeout logic
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extern bool heartbeat_engaged_mads;
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extern uint32_t heartbeat_engaged_mads_mismatches;
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// ===============================
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// External Function Declarations (kept as needed)
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// ===============================
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extern void mads_set_system_state(bool enabled, bool disengage_lateral_on_brake, bool pause_lateral_on_brake);
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extern void mads_set_alternative_experience(const int *mode);
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extern void mads_state_update(bool op_vehicle_moving, bool op_acc_main, bool op_allowed, bool is_braking, bool steering_disengage);
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extern void mads_exit_controls(DisengageReason reason);
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extern void mads_heartbeat_engaged_check(void);
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// ===============================
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// Inline Function Implementations, must be included in the header file to comply with MISRA-C:2012 Rule 8.10
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// These are really only used internally.
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// ===============================
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extern EdgeTransition m_get_edge_transition(bool current, bool last);
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extern void m_mads_state_init(void);
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extern void m_update_button_state(ButtonStateTracking *button_state);
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extern void m_update_binary_state(BinaryStateTracking *state);
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extern void m_update_control_state(void);
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